| """Evaluate point-cloud reprojection consistency against exported depth maps.""" |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| from pathlib import Path |
|
|
| import numpy as np |
|
|
| from evaluate_pointcloud import load_points |
| from simam3d_core import reprojection_consistency |
|
|
|
|
| def evaluate_reprojection(points_path: str | Path, metadata_path: str | Path) -> dict: |
| points = load_points(points_path) |
| with np.load(metadata_path) as metadata: |
| required = {"depth", "intrinsics", "extrinsics"} |
| missing = sorted(required.difference(metadata.files)) |
| if missing: |
| raise ValueError(f"metadata is missing required arrays: {', '.join(missing)}") |
| depth = np.asarray(metadata["depth"]) |
| intrinsics = np.asarray(metadata["intrinsics"]) |
| extrinsics = np.asarray(metadata["extrinsics"]) |
| if depth.ndim != 3: |
| raise ValueError("depth metadata must have shape VxHxW") |
| view_count = depth.shape[0] |
| if intrinsics.shape != (view_count, 3, 3) or extrinsics.shape != (view_count, 4, 4): |
| raise ValueError("camera metadata must match depth view count") |
| views = [] |
| for index in range(view_count): |
| metrics = reprojection_consistency(points, depth[index], intrinsics[index], extrinsics[index]) |
| views.append({"index": index, **metrics}) |
| return { |
| "mode": "reprojection_consistency_evaluation", |
| "points": str(Path(points_path)), |
| "metadata": str(Path(metadata_path)), |
| "point_count": int(len(points)), |
| "view_count": view_count, |
| "mean_coverage": float(np.mean([view["coverage"] for view in views])), |
| "mean_absolute_error": float(np.mean([view["mean_absolute_error"] for view in views])), |
| "median_absolute_error": float(np.median([view["median_absolute_error"] for view in views])), |
| "interpretation": "cross-view consistency diagnostic; not a geometric accuracy or hidden-surface claim", |
| "views": views, |
| } |
|
|
|
|
| def main(argv: list[str] | None = None) -> int: |
| parser = argparse.ArgumentParser(description=__doc__) |
| parser.add_argument("points", type=Path) |
| parser.add_argument("metadata", type=Path, help="run NPZ containing depth, intrinsics, and extrinsics") |
| parser.add_argument("--output", type=Path) |
| args = parser.parse_args(argv) |
| report = evaluate_reprojection(args.points, args.metadata) |
| destination = args.output |
| if destination: |
| destination.write_text(json.dumps(report, indent=2) + "\n", encoding="utf-8") |
| print(json.dumps(report, indent=2)) |
| if destination: |
| print(f"reprojection report: {destination}") |
| return 0 |
|
|
|
|
| if __name__ == "__main__": |
| raise SystemExit(main()) |
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|
